CN103950524A - Spraying type simulative underwater vehicle and working manner thereof - Google Patents
Spraying type simulative underwater vehicle and working manner thereof Download PDFInfo
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- CN103950524A CN103950524A CN201410149882.8A CN201410149882A CN103950524A CN 103950524 A CN103950524 A CN 103950524A CN 201410149882 A CN201410149882 A CN 201410149882A CN 103950524 A CN103950524 A CN 103950524A
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Abstract
The invention relates to a spraying type simulative underwater vehicle and a working manner thereof, and belongs to the function simulation in the technical field of robot simulation. The spraying type simulative underwater vehicle comprises a shell, a propelling mechanism, a transmission mechanism, a sinking and floating mechanism, a spray pipe angle regulating mechanism and a power supply and control system. According to the spraying type simulative underwater vehicle, by simulating water absorbing and spraying modes of marine organisms, such as cuttlefishes and salps, and by utilizing intermittent and regular water absorbing and spraying operations of four elastic water absorbing and spraying drums, the continuous water spraying of a front spray head and a back spray head of the underwater vehicle is realized; by controlling deflection angles of the spray heads, the regulation of a motion direction of the underwater vehicle is realized. The spraying type simulative underwater vehicle can be applied to the related fields of underwater detection, underwater tracking, underwater rescue and the like.
Description
Technical field
The present invention relates to a kind of injecting type bionic underwater vehicle and mode of operation thereof, belong to robot bionic technical field.
Background technology
As far back as 19 end of the centurys, jet propeller is used in propulsion of ship as a kind of special propelling unit.Along with the development of shipping industry, propelling unit technology has also produced huge variation thus, and the pump-jet propulsor, mhd thruster and the solid-rocket that develop into various characteristics today from traditional propeller start propelling unit.
Inkfish is a kind of animal common in ocean, belongs to the firm subclass Sepiida of Mollusca cephalopodium.Their rely on sprays and fluctuate compound propulsion this special mode of fin realizes and moving about, and can not only move about neatly, can also realize rolling, the action of moving about such as retreat fast.The imitative cuttlefish machine fish that Harbin Institute of Technology develops, utilizes the thermal contraction that is subject to of memory alloy wire to make the deficiencies such as the water in elastic cylinder outwards sprays to reach the effect of propelling, and the speed that still exists is slow, control is difficult.
Summary of the invention
The invention provides a kind of novel injecting type bionic underwater vehicle and mode of operation thereof, higher speed, efficiency and the manoevreability of enough realizations, for underwater exploration, tracking under water and rescue under water etc. provide efficient new tool.
For realize target, by imitating the halobiontic water suction water spraying modes such as inkfish, cup Ascidian,, control simple taking mechanism facilitates as basic design philosophy, of the present invention
A novel injecting type bionic underwater vehicle, is characterized in that: housing, propulsive mechanism, transmission device, jet pipe and jet pipe angle-adjusting mechanism, sink-float mechanism and power supply and control system; Wherein propulsive mechanism comprises the elasticity water suction water tube being installed in housing, elasticity water suction water tube by some elastic strips around arranging, invest elastic membrane outside elastic strip, be connected in the first bracing frame of elastic strip first end, the second bracing frame that is connected in elastic strip the second end forms; Elasticity water suction water tube first end forms unidirectional water sucking mouth by check valve sheet structure, elasticity water suction water tube, and the second end forms unidirectional water outlet by check valve sheet structure; Wherein transmission device comprises the driving motor being installed in housing, the drive shaft being connected with driving motor, also comprise the pinion and rack being connected with transmission shaft, pinion and rack comprises the gear being installed on drive shaft and the tooth bar matching with gear, and one end of tooth bar is connected with the first bracing frame of elasticity water suction water tube; Wherein jet pipe and jet pipe angle-adjusting mechanism comprise one end and the jet pipe that the unidirectional water outlet of elasticity water suction water tube is connected, and also comprise the jet pipe angle-adjusting mechanism in order to adjustable jet tube angle; Wherein rise and fall mechanism comprise the elastic storage bag, by the first connection pipe water pump, one end connected with the elastic storage bag is connected the water pump other end connect the external world the second connection pipe.
The mode of operation of above-mentioned injecting type bionic underwater vehicle, it is characterized in that comprising following process: the pressure of first bracing frame of the tooth bar by controlling transmission device to elasticity water suction water tube or draw, make elastic strip distortion cause elasticity water suction water tube volume-variation, and then elasticity water suction water tube water suction or draining, the water of discharge is sprayed and is made the motion of injecting type bionic underwater vehicle by jet pipe; Wherein rise and fall mechanism by controlling the water yield in the elastic storage bag, control ascending and descending condition; Wherein jet pipe angle-adjusting mechanism is adjusted the spray angle of jet pipe, changes navigation direction.
Above-mentioned injecting type bionic underwater vehicle is characterized in that: the elasticity water suction water tube of described propulsive mechanism has four, is respectively an elasticity water suction water tube, No. two elasticity water suction water tubes, No. three elasticity water suction water tubes, No. four elasticity water suction water tubes; Pinion and rack in described transmission device has two covers; Be respectively a pinion and rack, No. two pinion and racks; Gear, tooth bar in a pinion and rack is called a gear, a tooth bar; Gear, tooth bar in No. two pinion and racks is called No. two gears, No. two tooth bars; And a tooth bar and No. two tooth bars are backhaul tooth bar; Described jet pipe, by two covers, is respectively a jet pipe, No. two jet pipes; Above-mentioned elasticity water suction water tube and No. two elasticity water suction water tubes lay respectively at the two ends of a pinion and rack, and the first bracing frame of the first bracing frame of an elasticity water suction water tube, No. two elasticity water suction water tubes is connected in respectively the two ends of a tooth bar; Above-mentioned No. three elasticity water suction water tube and No. four elasticity water suction water tubes lay respectively at the two ends of No. two pinion and racks, and the first bracing frame of the first bracing frame of No. three elasticity water suction water tubes, No. four elasticity water suction water tubes is connected in respectively the two ends of No. two tooth bars; The unidirectional water outlet of above-mentioned elasticity water suction water tube, No. three elasticity water suction water tubes is connected with a jet pipe simultaneously; The unidirectional water outlet of No. two elasticity water suction water tubes, No. four elasticity water suction water tubes is connected with No. two jet pipes simultaneously; An above-mentioned gear and No. two gears are installed on same transmission shaft; And the cooperation drive connection of a gear, a tooth bar, with No. two gears, No. two tooth bars coordinate drive connection just the opposite.
The mode of operation of above-mentioned injecting type bionic underwater vehicle, is characterized in that comprising following process: because the unidirectional water outlet of an elasticity water suction water tube, No. three elasticity water suction water tubes is connected with a jet pipe simultaneously; The unidirectional water outlet of No. two elasticity water suction water tubes, No. four elasticity water suction water tubes is connected with No. two jet pipes simultaneously; No. one elasticity water suction water tube is identical with the water suction hull-borne of No. four elasticity water suction water tubes; No. two elasticity water suction water tube is identical with the water suction hull-borne of No. three elasticity water suction water tubes; No. one elasticity water suction water tube is contrary with No. two elasticity water suction water tube water suction hull-bornes, makes a jet pipe and No. two jet pipes realize continuous water spray state.
Above-mentioned injecting type bionic underwater vehicle, is characterized in that: above-mentioned jet pipe angle-adjusting mechanism has two covers, is respectively the upper and lower angle-adjusting mechanism of jet pipe, jet pipe left and right angle-adjusting mechanism.Thereby jet pipe angle-adjusting mechanism is realized deflecting of a jet pipe and realizes the adjustment of aircraft yaw angle, thereby the beat up and down that No. two jet pipe angle-adjusting mechanisms are realized No. two jet pipes is realized the adjustment of the luffing angle of aircraft, two cover jet pipe angle-adjusting mechanisms cooperatively interact and can realize submarine navigation device free running under water.
Above-mentioned injecting type bionic underwater vehicle, is characterized in that: described jet pipe is installed on outside housing by oscillating bearing; Described jet pipe angle-adjusting mechanism comprises and regulates the L shaped rotating shaft that the other end is connected with attaching parts that is connected with adjusting motor of motor, jet pipe, the attaching parts that is installed on jet pipe one end, one end.By regulating the rotation of motor to realize the beat of the part that L-type rotating shaft is connected with contiguous block, contiguous block is fixed together jet pipe and L-type rotating shaft, thus make jet pipe along with L-type rotating shaft swings together.
Above-mentioned injecting type bionic underwater vehicle, it is characterized in that: described sink-float mechanism is by two covers, lay respectively at the left and right sides of injecting type bionic underwater vehicle, two water storage bags absorb water simultaneously, draining realizes aircraft sink-float by changing the overall weight of aircraft, thereby the variation that another water suction of water inlet of two water storage bags realizes the mass distribution of aircraft self realizes attitude adjustment, i.e. the change of roll angle.
Above-mentioned injecting type bionic underwater vehicle, is characterized in that: the second bracing frame and the housing of elasticity water suction water tube fix; The first bracing frame place of elasticity water suction water tube is provided with sealing slide block, and injecting type bionic underwater vehicle also comprises the fix shaft fixing with housing; Fix shaft stretches in elasticity water suction water tube through sealing slide block, in the dilatation of spring cylinder, is fixed on slide block in cylinder and on fix shaft, slidably reciprocates to change the volume size of cylinder, realizes water suction and the water spray of spring cylinder.
Above-mentioned injecting type bionic underwater vehicle, it is characterized in that: the connection mode of above-mentioned elastic strip first end and the first bracing frame is specific as follows: above-mentioned elastic strip first end is fixed on and is rotationally connected on head, be rotationally connected and on head, be processed with an eccentric orfice, eccentric orfice is partial to spring cylinder inside in the position being rotationally connected on head, when spring cylinder is compressed, elastic strip can be heaved towards spring cylinder outside direction, little minor axis is fixed on the first bracing frame through after eccentric orfice, in the time of tooth bar motion compresses spring cylinder elastic strip by whole flexural deformation spring cylinder expand heave from water sucking mouth by water inspiration cylinder in, on elastic strip, spaced apart nonelastic rope is fixed the same maximum distortion shape of elasticity, simultaneously, another spring cylinder on same axis elastic strip and elastic membrane the effect of distortion restoring force under become normal condition from swelling state, volume diminishes the water in cylinder is sprayed from water outlet.
Brief description of the drawings
Fig. 1 is single elasticity water suction water spray cartridge type injecting type bionic underwater vehicle basic principle schematic of the present invention;
Fig. 2 is the profile front elevation of four elasticity water suction water spray cartridge type injecting type bionic underwater vehicles of the present invention;
Fig. 3 is the top plan view of four elasticity water suction water spray cartridge type submarine navigation devices;
Fig. 4 is the left pseudosection of four elasticity water suction water spray cartridge type submarine navigation devices;
Fig. 5 is four spring cylinders of four elasticity water suction water spray cartridge type submarine navigation devices and the space arrangement plan of backhaul tooth bar;
Fig. 6 is the elasticity water suction water tube schematic diagram of four elasticity water suction water spray cartridge type submarine navigation devices;
Fig. 7 is the schematic diagram of the course adjusting mechanism of four elasticity water suction water spray cartridge type submarine navigation devices;
Number in the figure title: 1, housing, 2, transmission device, 2-1, a pinion and rack, 2-2, No. two pinion and racks, 201, driving motor, 202, drive shaft, 203, gear, 204, tooth bar, 3, elasticity water suction water tube, 3-1, an elasticity water suction water tube, 3-2, No. two elasticity water suction water tubes, 3-3, No. three elasticity water suction water tubes, 3-4, No. four elasticity water suction water tubes, 301, elastic strip, 302, be rotationally connected head, 303, bracing frame, 303-1, the first bracing frame, 303-2, bracing frame, 305, slide block, 306, axle, 307, thin slice, 308, elastic membrane, 309, unidirectional water inflow mouth, 309-1, a unidirectional water inflow mouth, 309-2, No. two unidirectional water inflow mouths, 309-3, No. three unidirectional water inflow mouths, 309-4, No. four unidirectional water inflow mouths, 310, unidirectional water outlet, 310-1, a unidirectional water outlet, 310-2, No. two unidirectional water outlets, 310-3, No. three unidirectional water outlets, 310-4, No. four unidirectional water outlets, 4, propulsive mechanism, 5, jet pipe angle-adjusting mechanism, 5-1, a jet pipe angle-adjusting mechanism, 5-2, No. two jet pipe angle-adjusting mechanisms, 501, regulate motor, 502, attaching parts, 503, jet pipe, 503-1, a jet pipe, 503-2, No. two jet pipes, 504, oscillating bearing, 505, supporting construction, 506, conduit, 507, universal conduit, 508, L shaped rotating shaft, 6, sink-float mechanism, 601, the elastic storage bag, 602, water pump, 7, power supply and control system.
Detailed description of the invention
Below in conjunction with accompanying drawing, the concrete scheme in time of injecting type bionic underwater vehicle of the present invention is described.
As shown in Figure 1, for the basic principle schematic of single elasticity water suction water spray cartridge type injecting type bionic underwater vehicle of the present invention, it comprises that motor 201, gear, transmission shaft 202, half gear 203, tooth bar 204, elasticity water suction water tube 3, jet pipe 503 and jet pipe angle-adjusting mechanism 5 drive half gear 203 on transmission shaft 202 to rotarily drive tooth bar 204 by motor 201 and move back and forth, make elasticity water suction water tube replace Swelling and contraction, utilize the expansion of spring cylinder and shrink to realize hocketing of spraying water from water inlet water suction and jet pipe 503.
As shown in Fig. 2 ~ 7, four elasticity water suction water spray cartridge type injecting type bionic underwater vehicles of the present invention comprise that housing 1, propulsive mechanism 4, transmission device 2, jet pipe angle-adjusting mechanism 5, sink-float mechanism 6, power supply and control system 7 form.
Housing 1 is made up of inner housing, body skin, effect is sealing and the waterproof of aircraft parts, inner housing and body skin are installed for convenience all can be bonded by adhesives by panel, the joint of inner and outer shell also adopts adhesives bonding, play effect fixing and sealing, or adopt screw and sealing member are fixed and seal.
Propulsive mechanism 4 is by four elasticity water suction water tubes 3, elastic strip 301, be rotationally connected 302, bracing frame 303, flexible strand, slide block 305, axle 306, thin slice 307, elastic membrane 308 forms, the elastic strip 301 of elasticity water suction water tube adopts elastic steel sheet to make, with be rotationally connected 302 be connected by a draw-in groove and link together, employing screw-driving is fixed, utilization is rotationally connected a upper eccentric orfice, axle, hole on bracing frame 303, to be rotationally connected head by the free-running fit of hole axle couples together with bracing frame, eccentric orfice is partial to spring cylinder inside in the position being rotationally connected on head, make the bracing frame at two ends be pressed elastic strip when near outwards to heave, for the shape that ensures elastic strip maximum distortion is fixed, on elastic strip, interval is connecting flexible strand, adopt nonelastic nylon rope, can on elastic strip sheet, process annular shallow slot with fixing flexible rope, four elastic sheets 307 adopt PVC panel, its part useful binders that is fixed on bracing frame is fixed or is adopted screw seal ring to fix, its effect is equivalent to check valve, connecting duct is by conduit 506, Universal pipe 507 forms, conduit 506 can adopt the copper pipe of flexible latex pipe or customization, all adopt sealant sealing with the intersection of body skin, nozzle 503 adopts the copper pipe of customization and connects Universal pipe 507 so that it can realize beat.
Transmission device 2 adopts gear transmission, by the gear on motor 201, the two ends of realizing transmission shaft 202 are fixed wtih two and half gears 203, two and half gear drive backhaul tooth bar 204 crank motions, thereby the two ends of backhaul tooth bar and fixing expansion and the contraction that drives spring cylinder of axle 306, profile of tooth in the projection of two and half gears on its sagittal plane does not have intersection, keep contrary to realize the backhaul tooth bar sense of motion at two ends, before and after four spring cylinders remain each one in two other water suction of water spray, thereby realize the lasting water spray of former and later two shower nozzles of aircraft, one of accumulation of energy of two spring cylinders on same axle is released can, utilize such elastic mechanism to improve mechanical efficiency, and the variation of the load of drive motor is tended towards stability.
Sink-float is controlled and attitude-adjusting system 6, the space of being sealed by inner and outer shell is as water storehouse, the elastic storage bag 601 that the built-in latex of water storehouse supports is connected with water pump by PVC connection pipe, connect water pump 602 other ends by another PVC connection pipe one end and connect extraneous water environment, two water storage bags absorb water simultaneously, draining realizes aircraft sink-float, another water suction of water inlet of two water storage bags realizes attitude adjustment, i.e. the change of roll angle.
Jet pipe angle-adjusting mechanism 5, its strut member 505 adopts bolt and nut to be fixed on body skin, motor is arranged on its axle on inner housing and passes the hole on body skin, adopt seal ring to make water-proofing treatment, the L-type rotating shaft 508 of motor can adopt the bending of major axis motor to form, or adopt attaching parts to connect two sections of minor axises, oscillating bearing 504 is arranged in strut member 505, fulcrum during as nozzle 503 beat, a jet pipe 503-1 of its middle front part can deflect to realize the driftage of aircraft, No. two jet pipe 503-2 at rear portion up and down beat to realize the pitching of aircraft.
Power supply and control system 7, inner housing and body skin at aircraft sealed bottom larger space be used for placing storage battery, motor 201, storage battery and motor can be used as the ballace of aircraft, the seal cavity at middle part can be used for placing control hardware circuit card, to realize aircraft motion and the adjustment of space bit attitude.
Claims (8)
1. an injecting type bionic underwater vehicle, is characterized in that:
Comprise housing (1), propulsive mechanism (4), transmission device (2), jet pipe and jet pipe angle-adjusting mechanism (5), sink-float mechanism's (6) power supply and control system (7);
Wherein propulsive mechanism (4) comprises the elasticity water suction water tube (3) being installed in housing, elasticity water suction water tube (3) by some elastic strips (301) around arranging, invest elastic membrane (308) outside elastic strip (301), be connected in first bracing frame (303-1) of elastic strip (301) first end, the second bracing frame (303-2) that is connected in elastic strip (301) second ends forms; Elasticity water suction water tube (3) first end forms unidirectional water sucking mouth (309) by check valve sheet (307) structure, and elasticity water suction water tube (3) second ends form unidirectional water outlet (310) by check valve sheet (307) structure;
Wherein transmission device (2) comprises the driving motor (201) being installed in housing (1), the drive shaft (202) being connected with driving motor (201), also comprise the pinion and rack being connected with transmission shaft, pinion and rack comprises the gear (203) being installed on drive shaft (202) and the tooth bar (204) matching with gear, and one end of tooth bar (204) is connected with first bracing frame (303-1) of elasticity water suction water tube (3);
Wherein jet pipe and jet pipe angle-adjusting mechanism (5) comprise one end and the jet pipe (503) that the unidirectional water outlet (310) of elasticity water suction water tube (3) is connected, and also comprise the jet pipe angle-adjusting mechanism (5) in order to adjustable jet tube angle;
The mechanism (6) that wherein rises and falls comprises the elastic storage bag (601), is connected second connection pipe in the water pump other end connection external world by the first connection pipe water pump (602), one end connected with the elastic storage bag (601).
2. injecting type bionic underwater vehicle according to claim 1, is characterized in that:
The elasticity water suction water tube (3) of described propulsive mechanism (4) has four, is respectively an elasticity water suction water tube (3-1), No. two elasticity water suction water tubes (3-2), No. three elasticity water suction water tubes (3-3), No. four elasticity water suction water tubes (3-4);
Pinion and rack in described transmission device (2) has two covers; Be respectively a pinion and rack (2-1), No. two pinion and racks (2-2); Gear, tooth bar in a pinion and rack (2-1) is called a gear, a tooth bar; Gear, tooth bar in No. two pinion and racks (2-2) is called No. two gears, No. two tooth bars; And a tooth bar and No. two tooth bars are backhaul tooth bar;
Described jet pipe angle-adjusting mechanism (5) has two covers, is respectively a jet pipe angle-adjusting mechanism (5-1), No. two jet pipe angle-adjusting mechanisms (5-2);
Above-mentioned elasticity water suction water tube (3-1) and No. two elasticity water suction water tubes (3-2) lay respectively at the two ends of a pinion and rack, and the first bracing frame of the first bracing frame of an elasticity water suction water tube (3-1), No. two elasticity water suction water tubes (3-2) is connected in respectively the two ends of a tooth bar;
Above-mentioned No. three elasticity water suction water tubes (3-3) and No. four elasticity water suction water tubes (3-4) lay respectively at the two ends of No. two pinion and racks, and the first bracing frame of the first bracing frame of No. three elasticity water suction water tubes (3-3), No. four elasticity water suction water tubes (3-4) is connected in respectively the two ends of No. two tooth bars;
The unidirectional water outlet (310) of above-mentioned elasticity water suction water tube (3-1), No. three elasticity water suction water tubes (3-3) is connected with a jet pipe angle-adjusting mechanism (5-1) simultaneously;
The unidirectional water outlet (310) of No. two elasticity water suction water tubes (3-2), No. four elasticity water suction water tubes (3-4) is connected with No. two jet pipe angle-adjusting mechanisms (5-2) simultaneously;
An above-mentioned gear and No. two gears are installed on same transmission shaft; And the cooperation drive connection of a gear, a tooth bar, with No. two gears, No. two tooth bars coordinate drive connection just the opposite.
3. injecting type bionic underwater vehicle according to claim 1, is characterized in that:
Described jet pipe angle-adjusting mechanism (5) comprises and regulates the L shaped rotating shaft (508) that the other end is connected with attaching parts (502) that is connected with adjusting motor (501) of motor (501), the attaching parts (502) that is installed on jet pipe (503) one end, one end;
Described jet pipe (503) is installed in supporting construction (504) by oscillating bearing (504); Supporting construction (504) is fixed by bolts to outside housing (1).
4. injecting type bionic underwater vehicle according to claim 1, is characterized in that: described sink-float mechanism (6), by two covers, lays respectively at the left and right sides of injecting type bionic underwater vehicle.
5. injecting type bionic underwater vehicle according to claim 1, is characterized in that:
Second bracing frame (303-2) of elasticity water suction water tube (3) fixes with housing (1);
First bracing frame (303-1) of elasticity water suction water tube (3) locates to be provided with sealing slide block (305);
Injecting type bionic underwater vehicle also comprises the fix shaft (306) fixing with housing (1);
Fix shaft (306) stretches in elasticity water suction water tube (3) through sealing slide block (305).
6. injecting type bionic underwater vehicle according to claim 1, is characterized in that:
The connection mode of above-mentioned elastic strip (301) first end and the first bracing frame (303-1) is specific as follows:
Above-mentioned elastic strip (301) first end is fixed on and is rotationally connected on head (302), be rotationally connected on head (302) and be processed with an eccentric orfice, eccentric orfice is partial to spring cylinder inside in the position being rotationally connected on head, when spring cylinder is compressed, elastic strip can be heaved towards spring cylinder outside direction, and minor axis is fixed on the first bracing frame (303-1) through after eccentric orfice.
7. the mode of operation of injecting type bionic underwater vehicle according to claim 1, is characterized in that comprising following process:
The pressure of first bracing frame (303-1) of the tooth bar (204) by controlling transmission device (2) to elasticity water suction water tube (3) or draw, make elastic strip (301) and elastic membrane (308) distortion cause elasticity water suction water tube (3) volume-variation, and then elasticity water suction water tube (3) water suction or draining, the water of discharge makes the motion of injecting type bionic underwater vehicle by jet pipe (503) ejection;
Wherein rise and fall mechanism (6) by controlling the water yield in the elastic storage bag (601), control ascending and descending condition;
Wherein jet pipe angle-adjusting mechanism (5) is adjusted the spray angle of jet pipe, changes navigation direction.
8. the mode of operation of injecting type bionic underwater vehicle according to claim 2, is characterized in that comprising following process:
The pressure of first bracing frame (303-1) of the tooth bar (204) by controlling transmission device (2) to elasticity water suction water tube (3) or draw, make elastic strip (301) and elastic membrane (308) distortion cause elasticity water suction water tube (3) volume-variation, and then elasticity water suction water tube (3) water suction or draining, the water of discharge makes the motion of injecting type bionic underwater vehicle by jet pipe (503) ejection;
Wherein rise and fall mechanism (6) by controlling the water yield in the elastic storage bag (601), control ascending and descending condition;
Wherein jet pipe angle-adjusting mechanism (5) is adjusted the spray angle of jet pipe, changes navigation direction;
Because the unidirectional water outlet (310-1) of an elasticity water suction water tube (3-1), the unidirectional water outlet (310-3) of No. three elasticity water suction water tubes (3-3) are connected with a jet pipe (503-1) simultaneously; The unidirectional water outlet (310-2) of No. two elasticity water suction water tubes (3-2), the unidirectional water outlet (310-4) of No. four elasticity water suction water tubes (3-4) are connected with No. two jet pipes (503-2) simultaneously;
An elasticity water suction water tube (3-1) is identical with the water suction hull-borne of No. four elasticity water suction water tubes (3-4); No. two elasticity water suction water tubes (3-2) are identical with the water suction hull-borne of No. three elasticity water suction water tubes (3-3); An elasticity water suction water tube (3-1) is contrary with No. two elasticity water suction water tubes (3-2) water suction hull-borne, makes a jet pipe (503-1) and No. two jet pipes (503-2) realize continuous water spray state.
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| CN201410149882.8A CN103950524B (en) | 2014-04-15 | 2014-04-15 | Injecting type bionic underwater vehicle and mode of operation thereof |
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| CN201410149882.8A CN103950524B (en) | 2014-04-15 | 2014-04-15 | Injecting type bionic underwater vehicle and mode of operation thereof |
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| CN105882922A (en) * | 2016-05-16 | 2016-08-24 | 成都陌云科技有限公司 | Auxiliary power device for diving |
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| CN113525645A (en) * | 2021-07-07 | 2021-10-22 | 华南理工大学 | Bionic underwater robot based on squid |
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